Publication in BibTeX Format

@ARTICLE{AICPub1512:2007,
AUTHOR={Agrawal, M. and Konolige, K.},
TITLE={Rough Terrain Visual Odometry},
JOURNAL={Proceedings of the International Conference on Advanced Robotics (ICAR)
},
MONTH={August},
YEAR={2007},
ABSTRACT={We present an integrated system to localize a mobile robot in rough
outdoor terrain using visual odometry. Our previous work [1] presented a visual
odometry solution that estimates frame-to-frame motion from stereo cameras
and integrated this incremental motion with a low cost GPS. We extend that
work through the use of bundle adjustment over multiple frames. Bundle adjustment
helps to reduce the error significantly, thereby making our system more robust
and accurate while still operating in real-time. Our new system can keep the
robot well localized over several hundreds of meters to within 1% error. We
present experimental results for our system over a 300 meters run in a challenging
environment and compare it with ground truth Real Time Kinematic (RTK) GPS.}
}